<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/world_model.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('world__model_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">world_model.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *  Author: Raphael Favier, Technical University Eindhoven, (r.mysurname &lt;aT&gt; tue.nl)</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_WORLD_MODEL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_WORLD_MODEL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/common.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter_indices.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/crop_box.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/conditional_removal.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/io/pcd_io.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//#include &lt;pcl/gpu/kinfu_large_scale/tsdf_buffer.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">//#include &lt;boost/graph/buffer_concepts.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">namespace </span>kinfuLS</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">   64</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html">WorldModel</a></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;WorldModel&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const WorldModel&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::ConditionAnd&lt;PointT&gt;::Ptr ConditionAndPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::ConditionOr&lt;PointT&gt;::Ptr ConditionOrPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::FieldComparison&lt;PointT&gt;::ConstPtr FieldComparisonConstPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa399a6338644a2916ad13d6ce44551bb">   83</a></span>&#160;        <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa399a6338644a2916ad13d6ce44551bb">WorldModel</a>() : </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a> (new <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa0dd453ec8dd38f6f0c9beb752faebe4">   91</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa0dd453ec8dd38f6f0c9beb752faebe4">reset</a>()</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <span class="keywordflow">if</span>(<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size () != 0)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;Clearing world model\n&quot;</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.clear ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa1e079e6dd2a6fc6743d09de500468d5">addSlice</a> (<span class="keyword">const</span> PointCloudPtr new_cloud);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8bdbb16e594492fb868af32ef503c3e4">getExistingData</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> previous_origin_x, <span class="keyword">const</span> <span class="keywordtype">double</span> previous_origin_y, <span class="keyword">const</span> <span class="keywordtype">double</span> previous_origin_z,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> offset_x, <span class="keyword">const</span> <span class="keywordtype">double</span> offset_y, <span class="keyword">const</span> <span class="keywordtype">double</span> offset_z,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> volume_x, <span class="keyword">const</span> <span class="keywordtype">double</span> volume_y, <span class="keyword">const</span> <span class="keywordtype">double</span> volume_z, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;existing_slice);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4e0d2d1cf9b60d00c1e2bc83768d49bd">setSliceAsNans</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> origin_x, <span class="keyword">const</span> <span class="keywordtype">double</span> origin_y, <span class="keyword">const</span> <span class="keywordtype">double</span> origin_z,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> offset_x, <span class="keyword">const</span> <span class="keywordtype">double</span> offset_y, <span class="keyword">const</span> <span class="keywordtype">double</span> offset_z,</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">int</span> size_x, <span class="keyword">const</span> <span class="keywordtype">int</span> size_y, <span class="keyword">const</span> <span class="keywordtype">int</span> size_z);            </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8fab3c4a6873eb2904de2e89a9d2d00c">  139</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8fab3c4a6873eb2904de2e89a9d2d00c">cleanWorldFromNans</a> () </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        { </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          std::vector&lt;int&gt; indices; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          pcl::removeNaNFromPointCloud (*<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, *<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>, indices);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#ade62787d10f76e37b869f867c20ccb52">  148</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#ade62787d10f76e37b869f867c20ccb52">getWorld</a> () </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        { </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>); </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        </div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afd6761b541061012851aa24b07001d36">  155</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afd6761b541061012851aa24b07001d36">getWorldSize</a> () </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        { </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>-&gt;points.size () );</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a58ba8cc96a192eeda0bf253354a342cd">getWorldAsCubes</a> (<span class="keywordtype">double</span> size, std::vector&lt;PointCloudPtr&gt; &amp;cubes, std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp;transforms, <span class="keywordtype">double</span> overlap = 0.0);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">  172</a></span>&#160;        PointCloudPtr <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">world_</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">setIndicesAsNans</a> (PointCloudPtr cloud, IndicesConstPtr indices);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    };</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;}</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_WORLD_MODEL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html">pcl::kinfuLS::WorldModel</a></div><div class="ttdoc">WorldModel maintains a 3D point cloud that can be queried and updated via helper functions....</div><div class="ttdef"><b>Definition:</b> world_model.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_a4e0d2d1cf9b60d00c1e2bc83768d49bd"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4e0d2d1cf9b60d00c1e2bc83768d49bd">pcl::kinfuLS::WorldModel::setSliceAsNans</a></div><div class="ttdeci">void setSliceAsNans(const double origin_x, const double origin_y, const double origin_z, const double offset_x, const double offset_y, const double offset_z, const int size_x, const int size_y, const int size_z)</div><div class="ttdoc">Give nan values to the slice of the world</div><div class="ttdef"><b>Definition:</b> world_model.hpp:272</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_a4f82ce8304166b454eee82323d50e0c5"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a4f82ce8304166b454eee82323d50e0c5">pcl::kinfuLS::WorldModel::world_</a></div><div class="ttdeci">PointCloudPtr world_</div><div class="ttdoc">cloud containing our world</div><div class="ttdef"><b>Definition:</b> world_model.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_a58ba8cc96a192eeda0bf253354a342cd"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a58ba8cc96a192eeda0bf253354a342cd">pcl::kinfuLS::WorldModel::getWorldAsCubes</a></div><div class="ttdeci">void getWorldAsCubes(double size, std::vector&lt; PointCloudPtr &gt; &amp;cubes, std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;transforms, double overlap=0.0)</div><div class="ttdoc">Returns the world as two vectors of cubes of size &quot;size&quot; (pointclouds) and transforms</div><div class="ttdef"><b>Definition:</b> world_model.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_a8bdbb16e594492fb868af32ef503c3e4"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8bdbb16e594492fb868af32ef503c3e4">pcl::kinfuLS::WorldModel::getExistingData</a></div><div class="ttdeci">void getExistingData(const double previous_origin_x, const double previous_origin_y, const double previous_origin_z, const double offset_x, const double offset_y, const double offset_z, const double volume_x, const double volume_y, const double volume_z, pcl::PointCloud&lt; PointT &gt; &amp;existing_slice)</div><div class="ttdoc">Retreive existing data from the world model, after a shift</div><div class="ttdef"><b>Definition:</b> world_model.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_a8fab3c4a6873eb2904de2e89a9d2d00c"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#a8fab3c4a6873eb2904de2e89a9d2d00c">pcl::kinfuLS::WorldModel::cleanWorldFromNans</a></div><div class="ttdeci">void cleanWorldFromNans()</div><div class="ttdoc">Remove points with nan values from the world.</div><div class="ttdef"><b>Definition:</b> world_model.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_aa0dd453ec8dd38f6f0c9beb752faebe4"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa0dd453ec8dd38f6f0c9beb752faebe4">pcl::kinfuLS::WorldModel::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Clear the world.</div><div class="ttdef"><b>Definition:</b> world_model.h:91</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_aa1e079e6dd2a6fc6743d09de500468d5"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa1e079e6dd2a6fc6743d09de500468d5">pcl::kinfuLS::WorldModel::addSlice</a></div><div class="ttdeci">void addSlice(const PointCloudPtr new_cloud)</div><div class="ttdoc">Append a new point cloud (slice) to the world.</div><div class="ttdef"><b>Definition:</b> world_model.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_aa399a6338644a2916ad13d6ce44551bb"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#aa399a6338644a2916ad13d6ce44551bb">pcl::kinfuLS::WorldModel::WorldModel</a></div><div class="ttdeci">WorldModel()</div><div class="ttdoc">Default constructor for the WorldModel.</div><div class="ttdef"><b>Definition:</b> world_model.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_ade62787d10f76e37b869f867c20ccb52"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#ade62787d10f76e37b869f867c20ccb52">pcl::kinfuLS::WorldModel::getWorld</a></div><div class="ttdeci">PointCloudPtr getWorld()</div><div class="ttdoc">Returns the world as a point cloud.</div><div class="ttdef"><b>Definition:</b> world_model.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_afd6761b541061012851aa24b07001d36"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afd6761b541061012851aa24b07001d36">pcl::kinfuLS::WorldModel::getWorldSize</a></div><div class="ttdeci">size_t getWorldSize()</div><div class="ttdoc">Returns the number of points contained in the world.</div><div class="ttdef"><b>Definition:</b> world_model.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1kinfu_l_s_1_1_world_model_html_afe4d67535608aa59dd47c969e2b0a07c"><div class="ttname"><a href="classpcl_1_1kinfu_l_s_1_1_world_model.html#afe4d67535608aa59dd47c969e2b0a07c">pcl::kinfuLS::WorldModel::setIndicesAsNans</a></div><div class="ttdeci">void setIndicesAsNans(PointCloudPtr cloud, IndicesConstPtr indices)</div><div class="ttdoc">set the points which index is in the indices vector to nan</div><div class="ttdef"><b>Definition:</b> world_model.hpp:255</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_6b3ae6988449b0834e9596fad5d75199.html">gpu</a></li><li class="navelem"><a class="el" href="dir_7c54ddcf8e53c21086360d4aa5a07be1.html">kinfu_large_scale</a></li><li class="navelem"><a class="el" href="dir_7584af049c6d9caa133dc97f71bd8379.html">include</a></li><li class="navelem"><a class="el" href="dir_ab88fdfcb3578fb623dee52f480fc6cd.html">pcl</a></li><li class="navelem"><a class="el" href="dir_ff86b1ac0b95be1019ec8e20cb9d70dc.html">gpu</a></li><li class="navelem"><a class="el" href="dir_1258a702d6c02d4f739fe44eea020e12.html">kinfu_large_scale</a></li><li class="navelem"><b>world_model.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
